JP5657924B2 - Movable body drive device - Google Patents

Description

  The present invention relates to a movable body drive device that drives a movable body, and more particularly to control when driving a movable body such as a door used in a vehicle, a ship, an aircraft, a building, and the like.

  In a one-box type or minivan type vehicle, the side door of the rear seat may be a power slide door that is driven (opened / closed) by the power of a motor. In this type of power sliding door, there is a case where it is used as assistance using the power of the motor, that is, power assist, in order to facilitate the operation when opening and closing manually.

  In such a power slide door, the mechanical resistance (ease of movement) of the drive unit changes due to the influence of the environmental temperature, or the drive force changes due to the temperature magnetic force change of the magnet in the motor. However, the control circuit board is located away from the motor and the drive unit, and it is not desirable from the viewpoint of increasing the number of parts to provide a temperature sensor in the vicinity of the motor or drive unit.

  In such a power sliding door, the mechanical resistance (ease of movement) of the drive unit may change or the driving force of the motor may change due to aging. There was no effective method to detect this.

  As countermeasures against the above situation, in the power slide door, the moving speed at each moving position of the door is detected, the speed difference between the target speed and the current moving speed is obtained for each position, and the driving force of the motor is adjusted. Technology exists (for example, Patent Document 1).

  In addition, in power assist doors that assist human power, in order to improve the feeling of opening and closing operations, the deviation between the operating force detected by the sensor provided on the door handle and the lightly set door operating force is reduced. In addition, the controller controls the motor force (for example, Patent Document 2).

JP 2002-194948 A JP 2007-9650 A

  In order to realize the above-described method of Patent Document 1, it is necessary to execute driving force adjustment based on a speed difference at each moving position while performing fine position / moving speed detection while the door is moving. That is, calculation and control are required in real time, which places a burden on the CPU. In addition, since the method of Patent Document 1 is a control that approaches the target speed at each position, there is a problem that it cannot be applied to a speed change caused by acceleration or deceleration in the power assist door.

  Further, in order to enable power assist as described in Patent Document 2 above, the door must be a special door provided with a sensor for detecting an operation force, and an existing door or sensor can be used as it is. Can not. In addition, an A-D converter, a CPU port, and a control program for processing the detection result of the operation force detection sensor are also required. Further, in this case, since the driving force is controlled according to the sensor detection result, there is a problem that the driving control according to the resistance change due to temperature or aging deterioration cannot be performed.

  And the above subject is the same also about drive control of not only a slide door but other various movable bodies, such as a back door and a trunk lid.

  An object of the present invention is to realize a movable body drive device capable of driving a movable body in an appropriate state according to a change in drive resistance of the movable body.

  The present invention for solving the above-described problems is as follows.

(1) The invention according to claim 1 is a movable body drive device for driving a movable body with the power of a motor, and is generated when a current value or a predetermined current flowing when a predetermined voltage is applied to the motor is supplied. The estimation means for estimating the driving resistance of the movable body based on the voltage value, the power feeding correction value selection means for selecting a power feeding correction value based on the driving resistance, and the change of the driving resistance of the movable body are canceled out. Control means for adjusting a power supply amount to the motor based on a power supply correction value, and the estimation means estimates a drive resistance of the movable body without moving the movable body by the motor. It is a movable body drive device characterized by these.

  (2) In the invention according to claim 2, the control means adjusts the amount of electric power supplied to the motor based on a result of comparing a current value flowing through the motor with a predetermined threshold value during driving of the movable body. The threshold value is changed according to the power supply correction value, and the power supply amount is adjusted based on a comparison result between the current value flowing through the motor and the threshold value after the change. It is a movable body drive device of Claim 1 characterized by the above-mentioned.

  (3) In the invention according to claim 3, as the threshold value, a first threshold value and a second threshold value which are set in ascending order are set, and the control means is configured to send the motor to the motor when the current value is smaller than the first threshold value. And when the current value is larger than the second threshold value, the power supply amount to the motor is reduced, and the control means sets the driving resistance of the movable body to a predetermined value or When it is higher than the range, at least one of the first threshold value or the second threshold value is increased, and when the driving resistance of the movable body is lower than a predetermined value or range, the first threshold value or the second threshold value is increased. The movable body drive device according to claim 2, wherein at least one of them is lowered.

( 4 ) The invention according to claim 4 is provided with a movement detecting means for detecting movement of the movable body, and the estimating means is based on a detection result of the movement detecting means when the movable body is stopped. It is a movable body drive device as described in any one of Claims 1-3 characterized by the above-mentioned.

( 5 ) The invention according to claim 5 is characterized in that, when the control means receives an instruction to move the movable body, the control means controls to supply power to the motor after estimation by the estimation means. 4. The movable body drive device according to 4 .

(1) In the movable body drive device according to the first aspect of the present invention, the driving resistance of the movable body is estimated based on a current value that flows when a predetermined voltage is applied to the motor or a voltage value that is generated when a predetermined current is supplied. The power supply correction value is selected based on the drive resistance, and the power supply amount to the motor is adjusted based on the power supply correction value so as to cancel the change in the drive resistance of the movable body. The movable body can be driven in an appropriate state according to the change in the driving resistance of the movable body. In addition, the driving resistance of the movable body is estimated based on the current value that flows when a predetermined voltage is applied to the motor or the voltage value that is generated when the predetermined current is supplied without moving the movable body by the motor. The power supply correction value is selected based on the power supply, and the power supply amount to the motor is adjusted based on the power supply correction value so as to cancel the change in the drive resistance of the movable body. It is possible to appropriately estimate the change in resistance and drive the movable body in an appropriate state.

  (2) In the movable body drive device according to the second aspect of the present invention, according to the torque required for the motor based on the result of comparing the current value flowing through the motor with a predetermined threshold value during driving of the movable body. When adjusting the power supply amount to the motor in the state, the threshold value is changed according to the above power supply correction value, and the power supply amount is adjusted based on the comparison result between the current value flowing through the motor and the changed threshold value. I have to.

  As a result, the threshold value, which is a criterion for adjusting the amount of power supplied to the motor in a state corresponding to the torque required for the motor, is changed according to a change in the driving resistance of the movable body due to a temperature change or aged deterioration. Therefore, it becomes possible to drive the movable body with an appropriate power supply amount adjustment in accordance with changes in the drive resistance of the movable body due to temperature changes and aging degradation.

  (3) In the invention of the movable body drive device according to claim 3, when the movable body is driven, a first threshold value and a second threshold value that are set in ascending order are set as threshold values, and the current value is smaller than the first threshold value. It is set to increase the power supply to the motor and reduce the power supply to the motor when the current value is greater than the second threshold. The threshold is changed according to the above power supply correction value, and the movable body is driven. Based on the result of comparing the current value flowing in the motor and the threshold value after the change, when adjusting the amount of power supplied to the motor in a state corresponding to the torque required for the motor, the driving resistance of the movable body is set in advance. When higher than a predetermined value or range, at least one of the first threshold value or the second threshold value is increased, and when the driving resistance of the movable body is lower than a predetermined value or range, the first threshold value or the second threshold value is increased. To lower at least one To your. Note that raising or lowering the threshold means that the threshold is changed relative to the previous value.

  Here, when the drive resistance of the movable body is higher than a predetermined value or range due to temperature change or aging deterioration, increasing the first threshold value makes it easy to generate an increase in power supply (increase in drive power). By increasing the second threshold, it is difficult to reduce the amount of power supply (decrease in driving force).

  On the other hand, when the driving resistance of the movable body is lower than a predetermined value or range due to temperature change or aging deterioration, by lowering the first threshold value, it is difficult to generate an increase in power supply amount (increasing driving force), By lowering the second threshold value, it is easy to cause a decrease in the amount of power supply (a decrease in driving force).

  As a result, the movable body can be driven with appropriate power supply amount adjustment in accordance with changes in the drive resistance of the movable body due to temperature changes and aging degradation.

( 4 ) In the movable body drive device according to claim 4 , the current value that flows when a predetermined voltage is applied to the motor when the movable body is stopped based on the detection result of the movement detection means for detecting the movement of the movable body. Alternatively, the driving resistance of the movable body is estimated based on the voltage value generated when a predetermined current is supplied, the power feeding correction value is selected based on the estimated driving resistance, and the driving resistance of the movable body is determined based on the power feeding correction value. By adjusting the amount of electric power supplied to the motor so as to cancel the change, it is possible to appropriately estimate the change in the driving resistance of the movable body due to temperature change or aging deterioration, and to drive the movable body in an appropriate state.

( 5 ) In the invention of the movable body drive device according to claim 5, when an instruction to move the movable body is received, the drive resistance of the movable body is estimated, and then control is performed so that power is supplied to the motor. It is possible to appropriately estimate a change in the driving resistance of the movable body due to deterioration over time and drive the movable body in an appropriate state.

It is a block diagram which shows the structure of the movable body drive device of embodiment. It is a flowchart which shows operation | movement of the movable body drive device of embodiment. It is a characteristic view which shows control of the electric power feeding amount of the movable body drive device of embodiment. It is a characteristic view which shows control of the electric power feeding amount of the movable body drive device of embodiment. It is a flowchart which shows operation | movement of the movable body drive device of embodiment. It is a flowchart which shows operation | movement of the movable body drive device of embodiment. It is a characteristic view which shows control of the electric power feeding amount of the movable body drive device of embodiment. It is a characteristic view which shows control of the electric power feeding amount of the movable body drive device of embodiment. It is explanatory drawing which shows the external appearance of the vehicle to which the movable body drive device of embodiment is applied.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments (embodiments) for carrying out the invention will be described in detail with reference to the drawings. In addition, this invention is not limited to the specific example of embodiment described below, A various deformation | transformation is possible.

[Configuration of movable body drive device]
An electrical configuration of the movable body driving apparatus 100 of the present embodiment is shown in FIG. In FIG. 1, the control unit 101 includes a CPU and various processors, and is a control unit that controls each unit of the movable body driving device 100.

  The storage unit 102 is a storage unit that stores various data used when estimating the driving resistance, which will be described later, power supply correction value data based on the driving resistance, power supply amount data to the motor in each state, and other various data. Data can be read and changed from the unit 101.

  The sensor 104 is a detection unit that detects the stop position or pinching of the movable body, and the detection result is transmitted to the control unit 101.

  The switch 106 is an operation means for inputting various instructions relating to driving of the movable body, and the input result is transmitted to the control unit 101.

  The drive circuit 110 is a drive unit such as a driver circuit that supplies a motor drive signal having a predetermined duty to the motor based on an instruction to adjust the amount of power supplied from the control unit 101.

  The motor M is a power supply source that generates a rotational force by a motor drive signal from the drive circuit 110 and drives the movable body D by the rotational force. In this embodiment, a specific example of the motor M is a DC motor having a brush (commutator) in the following control relationship.

  The current detection unit 120 detects a current flowing through the motor M based on a motor drive signal supplied from the drive circuit 110, and transmits a detection result to the control unit 101. The current detection unit 120 detects a shunt resistor and a voltage generated in the shunt resistor. And detecting means. Note that the current flowing through the motor M changes according to the duty of the motor drive signal and the torque generated by the motor M.

  The driving force transmission unit 130 is a driving force transmission unit that shifts the rotational force of the motor M, further converts the rotational force into a linear motion, and transmits the rotational force to the movable body D as a driving force.

  The movable body D is various movable objects such as various doors, and moves in a predetermined direction at a predetermined speed by the driving force transmitted from the driving force transmission unit 130.

  The movement detection unit 140 detects the movement of the movable body D, generates a signal according to the presence or absence of movement or a signal according to the movement speed, and transmits the signal to the control unit 101. The movement detection unit 140 is configured by, for example, a Hall element or a Hall IC, and generates a signal having a pulse width and a pulse number corresponding to the moving speed.

  FIG. 9 shows an overall external view when the movable body driving apparatus 100 is applied to a vehicle. Here, the movable body D corresponds to a rear slide door or the like that is movably attached to the body B. Here, the rotation of the motor M is shifted by the driving force transmission unit 130, and further, the rotational force is converted into a linear motion via a wire (not shown) and the movable body D along the rail R provided on the body B. Is movable.

[Operation of movable body driving device (1)]
Hereinafter, the operation (1) of the movable body driving apparatus 100 will be described with reference to the flowchart of FIG.

  Here, as the operation (1), an embodiment in which the temperature around the motor M is estimated and the change in the driving resistance due to the change in the temperature can be dealt with will be described.

  First, the control unit 101 confirms whether the vehicle is stopped (step S101 in FIG. 2). If the vehicle is moving, the process is interrupted until a stop can be confirmed (NO in step S101 in FIG. 2). If the vehicle is stopped, the process proceeds (in step S101 in FIG. 2). YES).

  Further, the control unit 101 confirms whether another lock switch that prohibits the operation of the switch 106 is in a locked state, whether there is any circumstances in which the movement of the movable body cannot be permitted, and the like (step in FIG. 2). S102). Here, if another lock switch that prohibits the operation of the switch 106 is in a locked state or there is some circumstances where the movement of the movable body cannot be permitted, the control unit 101 performs processing until these circumstances are resolved. The process is interrupted (NO in step S102 in FIG. 2). On the other hand, if another lock switch that prohibits the operation of the switch 106 is not in the locked state and there are no other circumstances, the control unit 101 proceeds with the process to allow the movable body D to move ( YES in step S102 in FIG.

  The control unit 101 waits for the operation of the switch 106 (step S103 in FIG. 2), and when an instruction to move the movable body D is input from the user via the switch 106 (in step S103 in FIG. 2). YES), the process proceeds to move the movable body D (YES in step S103 in FIG. 2).

  Here, first, the control unit 101 instructs the drive circuit 110 to apply a predetermined voltage V1 that is low enough to prevent the motor M and the movable body D from moving. At this time, the control unit 101 refers to the detection result of the movement detection unit 140 and confirms whether the movable body D is stopped. At this time, the current detection unit 120 detects the current value I1 flowing through the motor M to which the predetermined voltage is applied, and transmits the detection result to the control unit 101 (step S104 in FIG. 2).

  In this embodiment, the current value I1 flowing through the motor M when the predetermined voltage V1 is applied to the motor M is detected, but the present invention is not limited to this. That is, a constant current source for supplying a constant current to the motor M and a voltage detection unit for detecting a voltage generated in the winding of the motor M are separately prepared, and a constant current Ic01 is supplied from the constant current source to the motor M. Sometimes, the voltage detection unit may detect the voltage V01 generated in the winding of the motor M, and the voltage detection unit may transmit the voltage detection result to the control unit 101.

  The control unit 101 estimates the ambient temperature where the motor M is arranged based on the current value I1 detected by the current detection unit 120 (step S105 in FIG. 2). Note that a constant predetermined voltage V1 is applied to the motor M, and the current value I1 flowing at this time has temperature-dependent characteristics, so that the temperature around the motor M can be estimated from the current value I1. ing. Moreover, the temperature estimation in this case may estimate an absolute temperature, or may obtain a difference from a temperature determined as a standard temperature.

  For this reason, a lookup table of the correspondence relationship between the current value and the temperature is provided in the storage unit 102, and the control unit 101 estimates the temperature from the current value I1 with reference to this lookup table (FIG. 2). Middle step S104). When detecting the voltage value V01 generated when the constant current Ic01 is supplied from the constant current source, the storage unit 102 is provided with a lookup table of the correspondence relationship between the voltage value and the temperature. 101 refers to this lookup table and estimates the temperature from the voltage value V01. Therefore, the control part 101 comprises the estimation means in a claim.

  As shown in FIG. 3, when the temperature around the motor M, that is, in the vicinity of the driving force transmission unit 130 falls from the normal temperature range, the driving resistance of the driving force transmission unit increases. On the other hand, when the temperature near the driving force transmission unit 130 rises from the normal temperature range, the driving resistance of the driving force transmission unit decreases. Further, if the temperature of the motor M falls below the normal temperature range, the magnetic flux of the magnet increases and the driving force increases. On the other hand, when the temperature of the motor M rises from the normal temperature range, the magnetic flux of the magnet is lowered and the driving force is lowered. Therefore, the driving force of the motor M and the driving resistance of the driving force transmission unit 130 vary depending on the temperature of the motor M and the driving force transmission unit 130. In general, since the rate of change in the driving resistance of the driving force transmission unit 130 is larger than the change in the driving force of the motor M due to the change in the magnetic flux of the magnet, overall, the driving resistance increases at a low temperature, and the temperature increases. Then, the driving resistance tends to decrease.

  Therefore, a power supply correction value for correcting the power supply amount (duty) to the motor M is provided in the storage unit 102 as a lookup table in advance in correspondence with the temperature so as to cancel the change in the driving force and the driving resistance. Yes. In this case, the power feeding correction value may be, for example, three levels such as normal temperature, low temperature, and high temperature, or four or more levels. In addition, each temperature range of normal temperature, low temperature, and high temperature can be arbitrarily set according to the change degree of drive resistance.

  If the temperature estimated from current value I1 is lower than the normal temperature range (YES in step S106 in FIG. 2), control unit 101 refers to the look-up table in storage unit 102 and supplies power for low temperature. A correction value is selected (step S108 in FIG. 2). If the temperature estimated from the current value I1 is in the normal temperature range (NO in step S106 in FIG. 2 and NO in step S107 in FIG. 2), the control unit 101 reads the lookup table in the storage unit 102. Referring to FIG. 2, a normal temperature power supply correction value is selected (step S109 in FIG. 2). The room temperature power supply correction value may be a value meaning no correction. If the temperature estimated from the current value I1 is in the high temperature range (NO in step S106 in FIG. 2 and YES in step S107 in FIG. 2), the control unit 101 reads the lookup table in the storage unit 102. Referring to FIG. 2, the high-temperature power supply correction value is selected (step S110 in FIG. 2). Therefore, the control part 101 comprises the electric power feeding correction value selection means in a claim.

  Instead of selecting and generating a power supply correction value using a lookup table, a power supply correction value based on a driving force change parameter of the motor M, a driving resistance change parameter of the driving force transmission unit 130, and each parameter and temperature. An appropriate power supply correction value may be calculated and generated according to the estimated temperature while holding the calculation formula. In this case, the control unit 101 constitutes a power supply correction value generation unit.

  In the normal state, that is, when the temperature estimated in step S105 is not low or high, the motor having the duty characteristic as shown by the solid line in FIG. A drive signal is supplied. In FIG. 4 (a), the alternate long and short dash lines indicate other states to be described later.

  First, in the initial operation mode (the solid line in FIG. 4 (a) A period), the duty is gradually increased, the rotation of the motor M is increased, and the movable body D is accelerated. Then, after a certain period of time has elapsed in the initial operation mode, the duty is kept constant in the steady mode (solid line in FIG. 4A), the rotation of the motor M is stabilized, and the movable body D is moved at a substantially constant speed. Then, after a certain period of time has elapsed in the steady mode, the duty is gradually reduced in the deceleration mode (solid line in FIG. 4A), the rotation of the motor M is decreased, and the movable body D is decelerated toward the stop. Let

  When it is estimated that the motor M or the driving force transmission unit 130 is low temperature (YES in step S107 in FIG. 2), the control unit 101 supplies the motor M with a low-temperature power supply correction value (step S108 in FIG. 2). In order to correct the power supply amount (step S111 in FIG. 2), the motor drive signal of the duty characteristic (FIG. 4 (b) dashed line) adjusted to be larger than the normal state (FIG. 4 (a) solid line) Is supplied to the motor M. Thereby, the increase in the driving resistance of the movable body D due to the low temperature is offset by the increase in the amount of power supply.

  When it is estimated that the motor M or the driving force transmission unit 130 is at a high temperature (YES in step S108 in FIG. 2), the control unit 101 supplies the motor M with a high-temperature power supply correction value (step S110 in FIG. 2). In order to correct the power supply amount (step S111 in FIG. 2), the motor drive with the duty characteristic (the two-dot chain line in FIG. 4C) adjusted to be smaller than the normal state (FIG. 4A) A signal is supplied to the motor M. Thereby, the decrease in the drive resistance of the movable body D due to the high temperature is offset by the decrease in the amount of power supply.

  As described above, by adjusting the amount of power supplied to the motor so as to cancel the change in the drive resistance of the movable body D, it is possible to appropriately adjust the change in the drive resistance of the movable body due to temperature change or aging deterioration. The movable body can be driven in the state. Therefore, even when there is a change in driving resistance due to a temperature change, it is possible to move the movable body D at the same moving speed as when there is no change in driving resistance due to a temperature change.

[Operation of movable body driving device (2)]
Hereinafter, the operation (2) of the movable body driving apparatus 100 will be described with reference to the flowchart of FIG.

  Here, as the operation (2), an embodiment in which the driving resistance of the driving force transmission unit 130 is estimated and the change in the driving resistance can be dealt with will be described.

  First, the control unit 101 confirms whether the vehicle is stopped (step S201 in FIG. 5). If the vehicle is moving, the process is interrupted until a stop can be confirmed (NO in step S201 in FIG. 5). If the vehicle is stopped, the process proceeds (in step S201 in FIG. 5). YES).

  Furthermore, the control unit 101 confirms whether another lock switch that prohibits the operation of the switch 106 is in a locked state, whether there is any circumstance in which the movement of the movable body cannot be permitted, and the like (step in FIG. 5). S202). Here, if another lock switch that prohibits the operation of the switch 106 is in a locked state or there is some circumstances where the movement of the movable body cannot be permitted, the control unit 101 performs processing until these circumstances are resolved. The process is interrupted (NO in step S202 in FIG. 5). On the other hand, if another lock switch that prohibits the operation of the switch 106 is not in the locked state and there are no other circumstances, the control unit 101 proceeds with the process to allow the movable body D to move ( YES in step S202 in FIG.

  Then, the control unit 101 waits for the operation of the switch 106 (step S203 in FIG. 5), and when an instruction to move the movable body D is input from the user via the switch 106 (in step S203 in FIG. 5). YES), the process proceeds to move the movable body D (YES in step S203 in FIG. 5).

  Here, the control unit 101 first applies a constant predetermined voltage V2 such that the motor M rotates to slightly wind a wire for moving the movable body D and does not start to move. An instruction is given to the drive circuit 110 to apply to the drive circuit 110. At this time, the control unit 101 refers to the detection result of the movement detection unit 140 and confirms whether the movable body D is stopped. At this time, the current detection unit 120 detects the current value I2 flowing through the motor M to which the predetermined voltage V2 is applied, and transmits the detection result to the control unit 101 (step S204 in FIG. 5).

  In this embodiment, the current value I2 flowing through the motor M when the predetermined voltage V2 is applied to the motor M is detected. However, the present invention is not limited to this, and the constant current is the same as in the operation (1). It can be replaced with a source and a voltage detector.

  The control unit 101 estimates the driving resistance of the driving force transmission unit 130 based on the current value I2 detected by the current detection unit 120 (step S205 in FIG. 5). In addition, since the constant predetermined voltage V2 is applied to the motor M and the current value I2 flowing at this time has a load torque dependence characteristic, the driving resistance of the driving force transmission unit 130 is estimated from the current value I2. Is possible. In this case, the estimation of the driving resistance may be an absolute driving resistance or a difference from a value determined as the standard driving resistance.

  For this reason, the storage unit 102 is provided with a lookup table of the correspondence relationship between the current value and the drive resistance, and the control unit 101 estimates the drive resistance from the current value I2 with reference to this lookup table ( Step S204 in FIG. 5). When detecting the voltage value V02 generated when the constant current Ic02 is supplied from the constant current source, the storage unit 102 is provided with a lookup table of the correspondence relationship between the voltage value and the drive resistance. The unit 101 refers to this lookup table and estimates the drive resistance from the voltage value V02. Therefore, the control part 101 comprises the estimation means in a claim.

  Therefore, a power supply correction value for correcting the power supply amount (duty) to the motor M is provided in the storage unit 102 as a lookup table in advance in correspondence with the drive resistance so as to cancel the change in the drive resistance. In this case, the power feeding correction value may be, for example, three stages or four or more stages such as driving resistance = high, driving resistance = medium, and driving resistance = small.

  If the drive resistance estimated from the current value I2 is a high drive resistance (YES in step S206 in FIG. 5), the control unit 101 refers to the lookup table in the storage unit 102 and uses the high drive resistance. A power supply correction value is selected (step S208 in FIG. 5). If the drive resistance estimated from the current value I2 is the medium drive resistance (normal range) (NO in step S206 in FIG. 5 and NO in step S207 in FIG. 5), the control unit 101 stores the storage unit 102. With reference to the look-up table in FIG. 5, the middle drive resistance power supply correction value is selected (step S209 in FIG. 5). Note that the power supply correction value for the middle drive resistor may be a value meaning no correction. If the drive resistance estimated from the current value I2 is a low drive resistance (NO in step S206 in FIG. 5 and YES in step S207 in FIG. 5), the control unit 101 performs lookup in the storage unit 102. With reference to the table, the low drive resistance power supply correction value is selected (step S210 in FIG. 5). Therefore, the control part 101 comprises the electric power feeding correction value selection means in a claim.

  Instead of selecting and generating a power supply correction value using a lookup table, an appropriate power supply correction value is calculated according to the estimated drive resistance by holding a power supply correction value calculation formula based on the drive resistance. May be generated. In this case, the control unit 101 constitutes a power supply correction value generation unit.

  In the normal state, that is, when the driving resistance estimated in step S205 is not a low driving resistance or a high driving resistance, the control unit 101 controls the motor M from the driving circuit 110 to perform the same operation (1) as described above. In addition, a motor drive signal having a duty characteristic as shown in FIG.

  When it is estimated that the motor M or the driving force transmission unit 130 has a high driving resistance (YES in step S207 in FIG. 5), the control unit 101 supplies a high driving resistance power supply correction value (step S208 in FIG. 5). In order to correct the power supply amount to the motor M (step S211 in FIG. 5), the motor drive with the duty characteristic (FIG. 4B) adjusted to be larger than the normal state (FIG. 4A). A signal is supplied to the motor M. Thereby, the increase in the driving resistance of the movable body D due to the temperature change or the secular change is offset by the increase in the power supply amount.

  When it is estimated that the motor M or the driving force transmission unit 130 has a low driving resistance (YES in step S208 in FIG. 5), the control unit 101 supplies a power correction value for low driving resistance (step S210 in FIG. 5). In order to correct the power supply amount to the motor M (step S211 in FIG. 5), the motor drive with the duty characteristic (FIG. 4C) adjusted to be smaller than the normal state (FIG. 4A). A signal is supplied to the motor M. As a result, the decrease in the driving resistance of the movable body D due to the temperature change or the secular change is offset by the decrease in the power supply amount.

  As described above, by adjusting the amount of power supplied to the motor so as to cancel the change in the drive resistance of the movable body D, it is possible to appropriately adjust the change in the drive resistance of the movable body due to temperature change or aging deterioration. The movable body can be driven in the state. Therefore, even when there is a change in driving resistance due to various changes or aging deterioration, the movable body D can be moved at the same moving speed as when there is no change in driving resistance.

[Operation of movable body driving device (3)]
Power supply correction values based on two types of inputs, the estimated temperature in the above-described operation (1) and the estimated drive resistance in the above-described operation (2), are stored in a three-dimensional lookup table in advance, and Under control, the temperature is estimated from the current I1 that flows when the predetermined voltage V1 is applied, and subsequently, the drive resistance is estimated from the current I2 that flows when the predetermined voltage V2 is applied, and comprehensive power supply correction is performed from both the estimated temperature and the estimated drive resistance. It is also possible to adjust the amount of power supplied to the motor by obtaining the value. Even in this way, by canceling out the change in the driving resistance of the movable body D, it becomes possible to drive the movable body in an appropriate state in accordance with the change in the driving resistance of the movable body due to temperature change or aging deterioration. . Therefore, even when there is a change in driving resistance due to various changes or aging deterioration, the movable body D can be moved at the same moving speed as when there is no change in driving resistance.

  Instead of using the two-input one-output three-dimensional lookup table described above, the two lookup tables shown in the operations (1) and (2) and the outputs of the two lookup tables are integrated. It is also possible to use means for generating a final power supply correction value.

[Operation of movable body driving device (4)]
Hereinafter, the operation (4) of the movable body driving apparatus 100 will be described with reference to the flowchart of FIG.

  Here, as the operation (4), an embodiment in which an appropriate operation can be performed by changing the threshold value for determining acceleration or deceleration according to the change of the drive resistance will be described.

  First, the control unit 101 confirms whether the vehicle is stopped (step S301 in FIG. 6). If the vehicle is moving, the process is suspended until the stop can be confirmed (NO in step S301 in FIG. 6), and if the vehicle is stopped, the process proceeds (in step S301 in FIG. 6). YES).

  Further, the control unit 101 confirms whether another lock switch that prohibits the operation of the switch 106 is in a locked state, whether there is any circumstance in which the movement of the movable body cannot be permitted, and the like (step in FIG. 6). S302). Here, if another lock switch that prohibits the operation of the switch 106 is in a locked state or there is some circumstances where the movement of the movable body cannot be permitted, the control unit 101 performs processing until these circumstances are resolved. The process is interrupted (NO in step S302 in FIG. 6). On the other hand, if another lock switch that prohibits the operation of the switch 106 is not in the locked state and there are no other circumstances, the control unit 101 proceeds with the process to allow the movable body D to move ( (YES in step S302 in FIG. 6).

  Then, the control unit 101 waits for the operation of the switch 106 (step S303 in FIG. 6), and when an instruction to move the movable body D is input from the user via the switch 106 (in step S303 in FIG. 6). YES), the process proceeds to move the movable body D (YES in step S303 in FIG. 6).

  Here, first, the control unit 101 gives an instruction to the drive circuit 110 to apply a constant predetermined voltage Va to the motor M. The predetermined voltage Va may be the predetermined voltage V1 in the operation (1) or the predetermined voltage V2 in the operation (2). At this time, the current detection unit 120 detects the current value Ib flowing through the motor M to which the predetermined voltage Va is applied, and transmits the detection result to the control unit 101 (step S304 in FIG. 6).

  In this embodiment, the current value Ib flowing through the motor M when the predetermined voltage Va is applied to the motor M is detected. However, the present invention is not limited to this. That is, as in the above-described operation (1) and operation (2), a constant current is supplied from the constant current source to the motor M, and the voltage generated in the winding of the motor M at this time is detected by the voltage detection unit. The voltage detection unit may transmit the voltage detection result to the control unit 101.

  The control unit 101 estimates the driving resistance of the driving force transmission unit 130 based on the current value Ib detected by the current detection unit 120 as in operation (1) or operation (2) (step S305 in FIG. 6). ). In this case, the estimation of the driving resistance may be an absolute driving resistance or a difference from a value determined as the standard driving resistance.

  By the way, the current flowing through the motor M corresponds to the magnitude of the load of the motor M, and has a characteristic that the motor current is small when the load is small, and the motor current increases as the load increases.

Therefore, the motor current when the movable body D is moved by the motor M is If, the motor current when the direction in which the movable body D is moved by the motor M matches the operation direction by human power is Ifff, and the movable body is driven by the motor M. If the motor current when the direction of moving D is opposite to the direction of operation by human power is Ifb,
If <If <Ifb
This relationship is established.

  Accordingly, the control unit 101 determines the relationship of If <If <Ifb by using predetermined threshold values Th1 and Th2 having a relationship of Th1 <Th2 for the value of the current flowing through the motor M, as shown in FIG. It can be determined whether the operator is trying to accelerate the movable body D, decelerate (stop), or do nothing. Then, the control unit 101 controls the acceleration or deceleration (stop) by adjusting the power supply amount based on the determination result (see FIG. 8A) based on the comparison between the motor current and the threshold values Th1 and Th2. It can be done appropriately according to.

  When such control is performed, the power supply correction value for correcting the threshold values Th1 and Th2 is looked up in advance in correspondence with the drive resistance so that the control easily shifts in a direction to cancel the temperature change and the drive resistance change. A storage unit 102 is provided as a table. In this case, the power feeding correction value may be three stages or four or more stages.

  If the drive resistance estimated from the current value Ib is a high drive resistance (YES in step S306 in FIG. 6), the control unit 101 refers to the lookup table in the storage unit 102 and uses the high drive resistance. Is selected (step S308 in FIG. 6). Here, when it is estimated that the driving resistance is high, as shown in FIG. 7B, at least one of the threshold values Th1 and Th2 is increased (increased) to Th1 'and Th2'. Thereby, the adjustment of the power supply amount to the motor M (step S311 in FIG. 6) is easier to accelerate (power supply amount increase) in the case of the high drive resistance than in the case of the medium drive resistance, and the deceleration (power supply amount). As a result, the acceleration time is extended and the deceleration time is reduced, so that the influence of the high driving resistance can be easily offset (see FIG. 8B).

  If the drive resistance estimated from the current value Ib is a medium drive resistance (normal range) (NO in step S306 in FIG. 6, NO in step S307 in FIG. 6), the control unit 101 stores the storage unit 102. With reference to the look-up table, a power correction value for medium driving resistance is selected (step S309 in FIG. 6). Note that the power supply correction value for the middle drive resistor may be a value meaning no correction.

  If the drive resistance estimated from the current value Ib is a low drive resistance (NO in step S306 in FIG. 6 and YES in step S307 in FIG. 6), the control unit 101 performs a lookup in the storage unit 102. With reference to the table, a power supply correction value for low driving resistance is selected (step S310 in FIG. 6).

  Here, when it is estimated that the driving resistance is low, as shown in FIG. 7C, at least one of the threshold values Th1 and Th2 is reduced (lowered) to Th1 ″ and Th2 ″. As a result, the adjustment of the power supply amount to the motor M (step S311 in FIG. 6) is less likely to accelerate (power supply amount increase) in the case of the low drive resistance than in the case of the medium drive resistance, and the deceleration (power supply amount) As a result, the acceleration time decreases, the deceleration time increases, and the influence of the low driving resistance is easily offset (see FIG. 8C).

  Instead of selecting and generating a power supply correction value using a lookup table, a power supply correction value that holds a threshold calculation formula based on the drive resistance and calculates an appropriate threshold according to the estimated drive resistance May be generated by calculating. In this case, the control unit 101 constitutes a power supply correction value generation unit.

  As described above, by changing the threshold according to the driving resistance, the acceleration and deceleration determination criteria are changed, and as a result, the power supply amount is adjusted, so that the change in the driving resistance of the movable body D is offset. In addition, by adjusting the amount of power supplied to the motor, it becomes possible to drive the movable body in an appropriate state in accordance with changes in the drive resistance of the movable body due to temperature changes and deterioration over time. In this embodiment, increasing (increasing) or decreasing (decreasing) the threshold value means that the threshold value is changed relative to the previous value.

  Therefore, the acceleration / deceleration criterion is changed by changing the threshold value, so that it is possible to maintain a state in which the operator does not feel a change in driving resistance due to a temperature change or a secular change.

[Operation of movable body driving device (5)]
Changing the acceleration / deceleration determination criteria by obtaining the power supply correction value by any of the above-described operations (1) to (3) and adjusting the power supply amount to the motor, and by changing the threshold value by the above-described operation (4). Can also be used together, and in this way, it becomes possible to drive the movable body in an appropriate state in accordance with changes in the drive resistance of the movable body due to temperature changes and aging degradation.

[Other Embodiments (1)]
In the movable body drive apparatus described above, various controls are performed by estimating the temperature and drive resistance using the current flowing through the motor M and the generated voltage. In addition to this, a temperature sensitive element such as a thermistor in the vicinity of the control unit 101 is used. It is possible to perform control in consideration of the detection result.

  In this case, when the temperature estimated by the current flowing through the motor M or the generated voltage is significantly different from the temperature detected by the temperature sensing element in the vicinity of the control unit 101, for example, a high temperature is detected in the vicinity of the control unit 101, It is also preferable that the control unit 101 determines that there is an error and stops the above-described control when the current is flowing in the motor M or the generated voltage is estimated to be low, such as when the temperature is low.

  It is also preferable that the control unit 101 determines that there is an error and stops the control described above.

  In this case, the control unit 101 may determine the correlation between the driving resistance estimated by the current flowing through the motor M or the generated voltage and the temperature detected by the temperature sensing element in the vicinity of the control unit 101. preferable. Here, when there is a significant lack of correlation, for example, when the normal temperature is detected in the vicinity of the control unit 101 and the driving resistance estimated by the current flowing through the motor M or the generated voltage is estimated to be significantly larger than normal, etc. It is also preferable that the control unit 101 determines that an error has occurred and stops the above-described control.

[Other embodiment (2)]
The movable body driving device described above is not limited to the vehicle shown in FIG. 9, but a movable body driving device for an appropriate application such as a movable body driving device for a ship or an aircraft, or a movable body driving device used inside or outside a building. It can be a device. Further, the door is not limited to the entrance and exit of people, and may be a door for taking in and out of luggage.

D movable body M motor 100 movable body drive device 101 control section 102 storage section 104 sensor 106 switch 110 drive circuit 120 current detection section 130 driving force transmission section 140 movement detection section

Claims (5)

A movable body drive device for driving a movable body with the power of a motor,
Estimating means for estimating a driving resistance of the movable body from a current value flowing when a predetermined voltage is applied to the motor or a voltage value generated when a predetermined current is supplied;
Power supply correction value selection means for selecting a power supply correction value based on the drive resistance;
Control means for adjusting a power supply amount to the motor based on the power supply correction value so as to cancel a change in drive resistance of the movable body;
Equipped with a,
The estimation means estimates the driving resistance of the movable body in a state where the movable body is not moved by the motor.
The movable body drive device characterized by the above-mentioned. The control means has a function of adjusting a power supply amount to the motor based on a result of comparing a current value flowing through the motor and a predetermined threshold during driving of the movable body,
The threshold value is changed according to the power supply correction value, and the power supply amount is adjusted based on a comparison result between the current value flowing through the motor and the threshold value after the change.
The movable body drive device according to claim 1. As the threshold value, a large first threshold value and second threshold value are set in ascending order,
The control means is configured to increase the power supply amount to the motor when the current value is smaller than the first threshold value, and to decrease the power supply amount to the motor when the current value is larger than the second threshold value. And
The control means includes
If the driving resistance of the movable body is higher than a predetermined value or range, increase at least one of the first threshold or the second threshold,
If the drive resistance of the movable body is lower than a predetermined value or range, lower at least one of the first threshold value or the second threshold value,
The movable body drive device according to claim 2, wherein Comprising movement detecting means for detecting movement of the movable body;
The estimation means estimates the driving resistance of the movable body when the movable body is stopped based on the detection result of the movement detection means.
The movable body driving device according to any one of claims 1 3, characterized in that. When the control means receives an instruction to move the movable body, the control means controls to supply power to the motor after estimation by the estimation means.
The movable body drive device according to claim 4 .

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